D. T. Nguyen, V. Horák, H. T. Tran, L. T. Nguyen, and C. Q. Hoang, “A Motion Model for a Complex-Shaped Remotely Operated Underwater Vehicle”, AiMT, vol. 15, no. 2, pp. 343–353, Sep. 2020, doi: 10.3849/aimt.01403.